static Variant HHVM_METHOD(IntlDateFormatter, localtime,
const String& value, VRefParam position) {
DATFMT_GET(data, this_, uninit_null());
int32_t parse_pos = -1;
if (!position.isNull()) {
parse_pos = position.toInt64();
if (parse_pos > value.size()) {
return false;
}
}
UErrorCode error = U_ZERO_ERROR;
String uValue(u16(value, error));
if (U_FAILURE(error)) {
data->setError(error, "Error converting timezone to UTF-16");
return false;
}
error = U_ZERO_ERROR;
UCalendar *cal = const_cast<UCalendar*>(udat_getCalendar(data->datefmt()));
udat_parseCalendar(data->datefmt(), cal,
(UChar*)uValue.c_str(), uValue.size() / sizeof(UChar),
&parse_pos, &error);
Array ret = Array::Create();
error = U_ZERO_ERROR;
add_to_localtime_arr(ret, cal, UCAL_SECOND, s_tm_sec, error);
add_to_localtime_arr(ret, cal, UCAL_MINUTE, s_tm_min, error);
add_to_localtime_arr(ret, cal, UCAL_HOUR_OF_DAY, s_tm_hour, error);
add_to_localtime_arr(ret, cal, UCAL_YEAR, s_tm_year, error, -1900);
add_to_localtime_arr(ret, cal, UCAL_DAY_OF_MONTH, s_tm_mday, error);
add_to_localtime_arr(ret, cal, UCAL_DAY_OF_WEEK, s_tm_wday, error, -1);
add_to_localtime_arr(ret, cal, UCAL_DAY_OF_YEAR, s_tm_yday, error);
add_to_localtime_arr(ret, cal, UCAL_MONTH, s_tm_mon, error);
if (U_FAILURE(error)) {
data->setError(error, "Date parsing - localtime failed : "
"could not get a field from calendar");
return false;
}
error = U_ZERO_ERROR;
auto isDST = ucal_inDaylightTime(cal, &error);
if (U_FAILURE(error)) {
data->setError(error, "Date parsing - localtime failed : "
"while checking if currently in DST.");
return false;
}
ret.set(s_tm_isdst, isDST ? 1 : 0);
position = (int64_t)parse_pos;
return ret;
}
float BayesFilter::addNeighborProb(cv::Mat & prediction, unsigned int col, const std::map<int, int> & neighbors, const std::map<int, int> & idToIndexMap) const
{
UASSERT((unsigned int)prediction.cols == idToIndexMap.size() &&
(unsigned int)prediction.rows == idToIndexMap.size() &&
col < (unsigned int)prediction.cols &&
col < (unsigned int)prediction.rows);
float sum=0;
for(std::map<int, int>::const_iterator iter=neighbors.begin(); iter!=neighbors.end(); ++iter)
{
int index = uValue(idToIndexMap, iter->first, -1);
if(index >= 0)
{
sum += ((float*)prediction.data)[col + index*prediction.cols] = _predictionLC[iter->second+1];
}
}
return sum;
}
uint64_t uintFromHex (std::string const& strSrc)
{
uint64_t uValue (0);
if (strSrc.size () > 16)
Throw<std::invalid_argument> ("overlong 64-bit value");
for (auto c : strSrc)
{
int ret = charUnHex (c);
if (ret == -1)
Throw<std::invalid_argument> ("invalid hex digit");
uValue = (uValue << 4) | ret;
}
return uValue;
}
void RTABMapApp::handleEvent(UEvent * event)
{
if(camera_ && camera_->isRunning())
{
// called from events manager thread, so protect the data
if(event->getClassName().compare("OdometryEvent") == 0)
{
LOGI("Received OdometryEvent!");
if(odomMutex_.try_lock())
{
odomEvents_.clear();
if(camera_->isRunning())
{
odomEvents_.push_back(*((rtabmap::OdometryEvent*)(event)));
}
odomMutex_.unlock();
}
}
if(status_.first == rtabmap::RtabmapEventInit::kInitialized &&
event->getClassName().compare("RtabmapEvent") == 0)
{
LOGI("Received RtabmapEvent!");
if(camera_->isRunning())
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmapEvents_.push_back(((rtabmap::RtabmapEvent*)event)->getStats());
}
}
}
if(event->getClassName().compare("PoseEvent") == 0)
{
if(poseMutex_.try_lock())
{
poseEvents_.clear();
poseEvents_.push_back(((rtabmap::PoseEvent*)event)->pose());
poseMutex_.unlock();
}
}
if(event->getClassName().compare("CameraTangoEvent") == 0)
{
rtabmap::CameraTangoEvent * tangoEvent = (rtabmap::CameraTangoEvent*)event;
// Call JAVA callback with tango event msg
bool success = false;
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "tangoEventCallback", "(ILjava/lang/String;Ljava/lang/String;)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
tangoEvent->type(),
env->NewStringUTF(tangoEvent->key().c_str()),
env->NewStringUTF(tangoEvent->value().c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
if(!success)
{
UERROR("Failed to call RTABMapActivity::tangoEventCallback");
}
}
if(event->getClassName().compare("RtabmapEventInit") == 0)
{
LOGI("Received RtabmapEventInit!");
status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();
if(status_.first == rtabmap::RtabmapEventInit::kClosed)
{
clearSceneOnNextRender_ = true;
}
// Call JAVA callback with init msg
bool success = false;
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "rtabmapInitEventCallback", "(ILjava/lang/String;)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
status_.first,
env->NewStringUTF(status_.second.c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
if(!success)
{
UERROR("Failed to call RTABMapActivity::rtabmapInitEventsCallback");
}
}
if(event->getClassName().compare("PostRenderEvent") == 0)
{
LOGI("Received PostRenderEvent!");
const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getStats();
int nodes = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f) +
uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
int words = (int)uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
float updateTime = uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f);
int loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
int highestHypId = (int)uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
int databaseMemoryUsed = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
int inliers = (int)uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
int featuresExtracted = stats.getSignatures().size()?stats.getSignatures().rbegin()->second.getWords().size():0;
float hypothesis = uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
// Call JAVA callback with some stats
UINFO("Send statistics to GUI");
bool success = false;
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFIFI)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
nodes,
words,
totalPoints_,
totalPolygons_,
updateTime,
loopClosureId,
highestHypId,
databaseMemoryUsed,
inliers,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingFPS_,
rejected);
success = true;
}
}
}
jvm->DetachCurrentThread();
}
if(!success)
{
UERROR("Failed to call RTABMapActivity::updateStatsCallback");
}
}
}
